Hierarchical Formation Control Based on a Vector Field Method for Wheeled Mobile Robots

@article{Kwon2012HierarchicalFC,
  title={Hierarchical Formation Control Based on a Vector Field Method for Wheeled Mobile Robots},
  author={Ji-Wook Kwon and Dongkyoung Chwa},
  journal={IEEE Transactions on Robotics},
  year={2012},
  volume={28},
  pages={1335-1345}
}
This paper proposes a hierarchical formation control using a target tracking control law based on the vector field method such that a decentralized and flexible formation control can be achieved without additional motion planning. Previously, many researchers have dealt with the control laws for the rigid formation, where the line of sight toward the leader is controlled for the leader-follower formation control. However, a width change or a collision of the formation can occur since a limited… CONTINUE READING
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